My iPad was stolen. I’m not sure if the iPad was backed up to iCloud. Can I still restore info from iPad without the iCloud?

You'll not be able to recover any data from a device that is no longer in your possession. Unless you have either an iCloud or iTunes backup, with which to restore data to another compatible device, your locally stored data will be lost along with the stolen iPad.

As for your stolen iPad, start here:

Locate a device in Find My on iPad - Apple Support

Here is Apple’s advice for lost or stolen devices:

If your iPhone, iPad or iPod touch is lost or stolen – Apple Support

Use the Find My app to locate a lost or stolen device – Apple Support

If the Find My iPad feature was enabled prior to it being “misplaced”, then if active, you would stand a good chance of locating it. 

However, if the feature was not activated prior to being misplaced - or the iPad has been inactive for more than 24 hours, the last known location will not be available - and the opportunity to use technical means to recover or manage the iPad may have been lost.

If it was never backed up to iCloud then there is nothing that you are going to be able to do to get the information that was on that iPad. If you had it automatically backing up and it just doesn’t have the most recent information then you’ll be able to get what it had the last time it backed up to iCloud. When set to automatically backup it will backup when it is connected to power and WiFi. If it never backed up, then unfortunately everything that was on the iPad is lost with the iPad.